Transactions of the Korean Society of Automotive Engineers (한국자동차공학회논문집)

The Korean Society of Automotive Engineers (한국자동차공학회)
권호 표지
DOI QR코드

DOI QR Code

Path Planning for Static Obstacle Avoidance: ADAM III

정적 장애물 회피를 위한 경로 계획: ADAM III

  • Choi, Heejae (Department of Mechanical Engineering, Ajou University) ;
  • Song, Bongsob (Department of Mechanical Engineering, Ajou University)
  • Received : 2013.10.31
  • Accepted : 2014.03.12
  • Published : 2014.04.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper presents a path planning algorithm of an autonomous vehicle (ADAM III) for collision avoidance in the presence of multiple obstacles. Under the requirements that a low-cost GPS is used and its computation should be completed with a sampling time of sub-second, heading angle estimation is proposed to improve performance degradation of its measurement and a hierarchical structure for path planning is used. Once it is decided that obstacle avoidance is necessary, the path planning consists in three steps: waypoint generation, trajectory candidate generation, and trajectory selection. While the waypoints and the corresponding trajectory candidates are generated based on position of obstacles, the final desired trajectory is determined with considerations of kinematic constraints as well as an optimal condition in a term of lateral deviation. Finally the proposed algorithm was validated experimentally through field tests and its demonstration was performed in Autonomous Vehicle Competition (AVC) 2013.

Keywords

References

  1. I. Presinger, Daimler Aims to Launch Self-driving Car by 2020, http://www.reuters.com/article/2013/09/08, 2013.
  2. Y. Kuwata, J. Teo, G. Fiore, S. Karaman, E. Frazzoli and J. How, "Real-time Motion Planning with Applications to Autonomous Urban Driving," IEEE Trans. on Control Systems Technology, Vol.17, No.5, pp.1105-1118, 2009. https://doi.org/10.1109/TCST.2008.2012116
  3. S. Thrun, M. Montemerlo, H. Dahlkamp, D. Stavens, A. Aron, J. Diebel, P. Fong, J. Gale, M. Halpenny, G. Hoffmann, K. Lau, C. Oakley, M. Palatucci, V. Pratt, P. Stang, S. Strohband, C. Dupont, L. Jendrossek, C. Koelen, C. Markey, C. Rummel, J. V. Niekerk, E. Jensen, P. Alessandrini, G. Bradski, B. Davies, S. Ettinger, A. Kaehler and A. Nefian, "Stanley: The Robot that Won the DARPA Grand Challenge," J. of Field Robotics, Vol.23, No.9, pp.661-692, 2006. https://doi.org/10.1002/rob.20147
  4. Y. Han, Research of Obstalce Decision and Path Planning for Stable Path Generation of Unmanned Ground Vehicle, Ph. D. Dissertation, Kookmin University, Seoul, 2012.
  5. K. Chu, Real-time Path Planning of Autonomous Vehicles Based on the Curvilinear Coordinate System, Ph. D. Dissertation, Hanyang University, Seoul, 2011.
  6. S. Waydo and R. M. Murray, "Vehicle Motion Planning Using Stream Functions," Int. Conf. on Robotics and Automation, pp.2484-2491, 2003.
  7. S. Gidel, P. Checchin, C. Blanc, T. Chateau and L. Trassoudaine, "Pedestrian Detection and Tracking in an Urban Environment Using a Multilayer Laser Scanner," IEEE Trans. on Intelligent Transportation Systems, Vol.11, No.3, pp.579-588, 2010. https://doi.org/10.1109/TITS.2010.2045122
  8. B. Song, "Cooperative Lateral Vehicle Control for Autonomous Valet Parking," Int. J. Automotive Technology, Vol.14, No.4, pp.633-640, 2013. https://doi.org/10.1007/s12239-013-0068-1
  9. A. Moran and M. Hayase, "Shortest-trajectory Control of Autonomous Mobile Robots Using Nonlinear Observers," Proceedings of the 34th SICE Annual Conference, pp.1415-1418, 1995.
  10. 이웅희, 윤상열, 심인욱, 신승학, 최종원, 오지원, 심현철, 권인소, 최세범, "KAIST Eure-Car: 복잡한 도로 상황에서의 환경인식 및 충돌회피 가능한 무인자율주행차량 개발," 한국로봇학회, Vol.10, No.2, pp.20-31, 2013.